Vision-based handling system using model-based vision and stereo ranging

We have many applications of a vision-based robotic handling system for casting parts in our works. We have focused on a three-dimensional model-based matching technique to decide the position and orientation of an object, because most of the target objects are rigid and have some visible patterns or holes as line segments and closed-curves on their surfaces. By combining model-based vision and stereo ranging, the system can recognize randomly stacked casting parts in a bin with no special lighting facilities. This paper describes the recognition methodology, system configuration, and successful experiments to recognize and pick up an actual object in our works.